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<h1>AngleLockEquation Class</h1>
<div class="box meta">

        <div class="extends">
            Extends <a href="../classes/Equation.html" class="crosslink">Equation</a>
        </div>

        <div class="foundat">
            Defined in: <a href="../files/src_equations_AngleLockEquation.js.html#l6"><code>src&#x2F;equations&#x2F;AngleLockEquation.js:6</code></a>
        </div>


</div>


<div class="box intro">
    <p>Locks the relative angle between two bodies. The constraint tries to keep the dot product between two vectors, local in each body, to zero. The local angle in body i is a parameter.</p>

</div>

    <div class="constructor">
        <h2>Constructor</h2>
        <div id="method_AngleLockEquation" class="method item">
            <h3 class="name"><code>AngleLockEquation</code></h3>
        
                <div class="args">
                    <span class="paren">(</span><ul class="args-list inline commas">
                        <li class="arg">
                                <code>bodyA</code>
                        </li>
                        <li class="arg">
                                <code>bodyB</code>
                        </li>
                        <li class="arg">
                                <code class="optional">[options]</code>
                        </li>
                    </ul><span class="paren">)</span>
                </div>
        
        
        
        
        
        
        
        
            <div class="meta">
                        <p>
                        Defined in
                <a href="../files/src_equations_AngleLockEquation.js.html#l6"><code>src&#x2F;equations&#x2F;AngleLockEquation.js:6</code></a>
                </p>
        
        
        
            </div>
        
            <div class="description">
                
            </div>
        
                <div class="params">
                    <h4>Parameters:</h4>
        
                    <ul class="params-list">
                        <li class="param">
                                <code class="param-name">bodyA</code>
                                <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
        
        
                            <div class="param-description">
                                 
                            </div>
        
                        </li>
                        <li class="param">
                                <code class="param-name">bodyB</code>
                                <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
        
        
                            <div class="param-description">
                                 
                            </div>
        
                        </li>
                        <li class="param">
                                <code class="param-name optional">[options]</code>
                                <span class="type">Object</span>
                                <span class="flag optional" title="This parameter is optional.">optional</span>
        
        
                            <div class="param-description">
                                 
                            </div>
        
                                <ul class="params-list">
                                    <li class="param">
                                            <code class="param-name optional">[angle]</code>
                                            <span class="type">Number</span>
                                            <span class="flag optional" title="This parameter is optional.">optional</span>
        
                                        <div class="param-description">
                                            <p>Angle to add to the local vector in body A.</p>
        
                                        </div>
        
                                    </li>
                                    <li class="param">
                                            <code class="param-name optional">[ratio]</code>
                                            <span class="type">Number</span>
                                            <span class="flag optional" title="This parameter is optional.">optional</span>
        
                                        <div class="param-description">
                                            <p>Gear ratio</p>
        
                                        </div>
        
                                    </li>
                                </ul>
                        </li>
                    </ul>
                </div>
        
        
        
        </div>
    </div>

<div id="classdocs" class="tabview">
    <ul class="api-class-tabs">
        <li class="api-class-tab index"><a href="#index">Index</a></li>

            <li class="api-class-tab methods"><a href="#methods">Methods</a></li>
            <li class="api-class-tab properties"><a href="#properties">Properties</a></li>
    </ul>

    <div>
        <div id="index" class="api-class-tabpanel index">
            <h2 class="off-left">Item Index</h2>

                <div class="index-section methods">
                    <h3>Methods</h3>

                    <ul class="index-list methods extends">
                            <li class="index-item method inherited">
                                <a href="#method_addToWlambda">addToWlambda</a>

                            </li>
                            <li class="index-item method inherited">
                                <a href="#method_computeB">computeB</a>

                            </li>
                            <li class="index-item method inherited">
                                <a href="#method_computeGiMf">computeGiMf</a>

                            </li>
                            <li class="index-item method inherited">
                                <a href="#method_computeGiMGt">computeGiMGt</a>

                            </li>
                            <li class="index-item method inherited">
                                <a href="#method_computeGq">computeGq</a>

                            </li>
                            <li class="index-item method inherited">
                                <a href="#method_computeGW">computeGW</a>

                            </li>
                            <li class="index-item method inherited">
                                <a href="#method_computeGWlambda">computeGWlambda</a>

                            </li>
                            <li class="index-item method inherited">
                                <a href="#method_computeInvC">computeInvC</a>

                            </li>
                            <li class="index-item method inherited">
                                <a href="#method_gmult">gmult</a>

                            </li>
                            <li class="index-item method">
                                <a href="#method_setMaxTorque">setMaxTorque</a>

                            </li>
                            <li class="index-item method">
                                <a href="#method_setRatio">setRatio</a>

                            </li>
                            <li class="index-item method inherited">
                                <a href="#method_update">update</a>

                            </li>
                    </ul>
                </div>

                <div class="index-section properties">
                    <h3>Properties</h3>

                    <ul class="index-list properties extends">
                            <li class="index-item property inherited">
                                <a href="#property_bodyA">bodyA</a>

                            </li>
                            <li class="index-item property inherited">
                                <a href="#property_bodyB">bodyB</a>

                            </li>
                            <li class="index-item property inherited">
                                <a href="#property_enabled">enabled</a>

                            </li>
                            <li class="index-item property inherited">
                                <a href="#property_G">G</a>

                            </li>
                            <li class="index-item property inherited">
                                <a href="#property_maxForce">maxForce</a>

                            </li>
                            <li class="index-item property inherited">
                                <a href="#property_minForce">minForce</a>

                            </li>
                            <li class="index-item property inherited">
                                <a href="#property_multiplier">multiplier</a>

                            </li>
                            <li class="index-item property inherited">
                                <a href="#property_needsUpdate">needsUpdate</a>

                            </li>
                            <li class="index-item property private">
                                <a href="#property_ratio">ratio</a>

                            </li>
                            <li class="index-item property inherited">
                                <a href="#property_relativeVelocity">relativeVelocity</a>

                            </li>
                            <li class="index-item property inherited">
                                <a href="#property_relaxation">relaxation</a>

                            </li>
                            <li class="index-item property inherited">
                                <a href="#property_stiffness">stiffness</a>

                            </li>
                    </ul>
                </div>


        </div>

            <div id="methods" class="api-class-tabpanel">
                <h2 class="off-left">Methods</h2>

<div id="method_addToWlambda" class="method item inherited">
    <h3 class="name"><code>addToWlambda</code></h3>

        <div class="args">
            <span class="paren">(</span><ul class="args-list inline commas">
                <li class="arg">
                        <code>deltalambda</code>
                </li>
            </ul><span class="paren">)</span>
        </div>








    <div class="meta">
                <p>Inherited from
                <a href="../classes/Equation.html#method_addToWlambda">Equation</a>:
        <a href="../files/src_equations_Equation.js.html#l270"><code>src&#x2F;equations&#x2F;Equation.js:270</code></a>
        </p>



    </div>

    <div class="description">
        <p>Add constraint velocity to the bodies.</p>

    </div>

        <div class="params">
            <h4>Parameters:</h4>

            <ul class="params-list">
                <li class="param">
                        <code class="param-name">deltalambda</code>
                        <span class="type">Number</span>


                    <div class="param-description">
                         
                    </div>

                </li>
            </ul>
        </div>



</div>
<div id="method_computeB" class="method item inherited">
    <h3 class="name"><code>computeB</code></h3>

        <span class="paren">()</span>

        <span class="returns-inline">
            <span class="type">Number</span>
        </span>







    <div class="meta">
                <p>Inherited from
                <a href="../classes/Equation.html#method_computeB">Equation</a>:
        <a href="../files/src_equations_Equation.js.html#l150"><code>src&#x2F;equations&#x2F;Equation.js:150</code></a>
        </p>



    </div>

    <div class="description">
        <p>Computes the RHS of the SPOOK equation</p>

    </div>


        <div class="returns">
            <h4>Returns:</h4>

            <div class="returns-description">
                        <span class="type">Number</span>:
            </div>
        </div>


</div>
<div id="method_computeGiMf" class="method item inherited">
    <h3 class="name"><code>computeGiMf</code></h3>

        <span class="paren">()</span>

        <span class="returns-inline">
            <span class="type">Number</span>
        </span>







    <div class="meta">
                <p>Inherited from
                <a href="../classes/Equation.html#method_computeGiMf">Equation</a>:
        <a href="../files/src_equations_Equation.js.html#l213"><code>src&#x2F;equations&#x2F;Equation.js:213</code></a>
        </p>



    </div>

    <div class="description">
        <p>Computes G*inv(M)*f, where M is the mass matrix with diagonal blocks for each body, and f are the forces on the bodies.</p>

    </div>


        <div class="returns">
            <h4>Returns:</h4>

            <div class="returns-description">
                        <span class="type">Number</span>:
            </div>
        </div>


</div>
<div id="method_computeGiMGt" class="method item inherited">
    <h3 class="name"><code>computeGiMGt</code></h3>

        <span class="paren">()</span>

        <span class="returns-inline">
            <span class="type">Number</span>
        </span>







    <div class="meta">
                <p>Inherited from
                <a href="../classes/Equation.html#method_computeGiMGt">Equation</a>:
        <a href="../files/src_equations_Equation.js.html#l241"><code>src&#x2F;equations&#x2F;Equation.js:241</code></a>
        </p>



    </div>

    <div class="description">
        <p>Computes G*inv(M)*G&#39;</p>

    </div>


        <div class="returns">
            <h4>Returns:</h4>

            <div class="returns-description">
                        <span class="type">Number</span>:
            </div>
        </div>


</div>
<div id="method_computeGq" class="method item inherited">
    <h3 class="name"><code>computeGq</code></h3>

        <span class="paren">()</span>

        <span class="returns-inline">
            <span class="type">Number</span>
        </span>







    <div class="meta">
                <p>Inherited from
                <a href="../classes/Equation.html#method_computeGq">Equation</a>:
        <a href="../files/src_equations_Equation.js.html#l162"><code>src&#x2F;equations&#x2F;Equation.js:162</code></a>
        </p>



    </div>

    <div class="description">
        <p>Computes G*q, where q are the generalized body coordinates</p>

    </div>


        <div class="returns">
            <h4>Returns:</h4>

            <div class="returns-description">
                        <span class="type">Number</span>:
            </div>
        </div>


</div>
<div id="method_computeGW" class="method item inherited">
    <h3 class="name"><code>computeGW</code></h3>

        <span class="paren">()</span>

        <span class="returns-inline">
            <span class="type">Number</span>
        </span>







    <div class="meta">
                <p>Inherited from
                <a href="../classes/Equation.html#method_computeGW">Equation</a>:
        <a href="../files/src_equations_Equation.js.html#l181"><code>src&#x2F;equations&#x2F;Equation.js:181</code></a>
        </p>



    </div>

    <div class="description">
        <p>Computes G*W, where W are the body velocities</p>

    </div>


        <div class="returns">
            <h4>Returns:</h4>

            <div class="returns-description">
                        <span class="type">Number</span>:
            </div>
        </div>


</div>
<div id="method_computeGWlambda" class="method item inherited">
    <h3 class="name"><code>computeGWlambda</code></h3>

        <span class="paren">()</span>

        <span class="returns-inline">
            <span class="type">Number</span>
        </span>







    <div class="meta">
                <p>Inherited from
                <a href="../classes/Equation.html#method_computeGWlambda">Equation</a>:
        <a href="../files/src_equations_Equation.js.html#l197"><code>src&#x2F;equations&#x2F;Equation.js:197</code></a>
        </p>



    </div>

    <div class="description">
        <p>Computes G*Wlambda, where W are the body velocities</p>

    </div>


        <div class="returns">
            <h4>Returns:</h4>

            <div class="returns-description">
                        <span class="type">Number</span>:
            </div>
        </div>


</div>
<div id="method_computeInvC" class="method item inherited">
    <h3 class="name"><code>computeInvC</code></h3>

        <div class="args">
            <span class="paren">(</span><ul class="args-list inline commas">
                <li class="arg">
                        <code>eps</code>
                </li>
            </ul><span class="paren">)</span>
        </div>

        <span class="returns-inline">
            <span class="type">Number</span>
        </span>







    <div class="meta">
                <p>Inherited from
                <a href="../classes/Equation.html#method_computeInvC">Equation</a>:
        <a href="../files/src_equations_Equation.js.html#l313"><code>src&#x2F;equations&#x2F;Equation.js:313</code></a>
        </p>



    </div>

    <div class="description">
        <p>Compute the denominator part of the SPOOK equation: C = G*inv(M)*G&#39; + eps</p>

    </div>

        <div class="params">
            <h4>Parameters:</h4>

            <ul class="params-list">
                <li class="param">
                        <code class="param-name">eps</code>
                        <span class="type">Number</span>


                    <div class="param-description">
                         
                    </div>

                </li>
            </ul>
        </div>

        <div class="returns">
            <h4>Returns:</h4>

            <div class="returns-description">
                        <span class="type">Number</span>:
            </div>
        </div>


</div>
<div id="method_gmult" class="method item inherited">
    <h3 class="name"><code>gmult</code></h3>

        <span class="paren">()</span>

        <span class="returns-inline">
            <span class="type">Number</span>
        </span>







    <div class="meta">
                <p>Inherited from
                <a href="../classes/Equation.html#method_gmult">Equation</a>:
        <a href="../files/src_equations_Equation.js.html#l136"><code>src&#x2F;equations&#x2F;Equation.js:136</code></a>
        </p>



    </div>

    <div class="description">
        <p>Multiply a jacobian entry with corresponding positions or velocities</p>

    </div>


        <div class="returns">
            <h4>Returns:</h4>

            <div class="returns-description">
                        <span class="type">Number</span>:
            </div>
        </div>


</div>
<div id="method_setMaxTorque" class="method item">
    <h3 class="name"><code>setMaxTorque</code></h3>

        <div class="args">
            <span class="paren">(</span><ul class="args-list inline commas">
                <li class="arg">
                        <code>torque</code>
                </li>
            </ul><span class="paren">)</span>
        </div>








    <div class="meta">
                <p>
                Defined in
        <a href="../files/src_equations_AngleLockEquation.js.html#l52"><code>src&#x2F;equations&#x2F;AngleLockEquation.js:52</code></a>
        </p>



    </div>

    <div class="description">
        <p>Set the max force for the equation.</p>

    </div>

        <div class="params">
            <h4>Parameters:</h4>

            <ul class="params-list">
                <li class="param">
                        <code class="param-name">torque</code>
                        <span class="type">Number</span>


                    <div class="param-description">
                         
                    </div>

                </li>
            </ul>
        </div>



</div>
<div id="method_setRatio" class="method item">
    <h3 class="name"><code>setRatio</code></h3>

        <div class="args">
            <span class="paren">(</span><ul class="args-list inline commas">
                <li class="arg">
                        <code>ratio</code>
                </li>
            </ul><span class="paren">)</span>
        </div>








    <div class="meta">
                <p>
                Defined in
        <a href="../files/src_equations_AngleLockEquation.js.html#l40"><code>src&#x2F;equations&#x2F;AngleLockEquation.js:40</code></a>
        </p>



    </div>

    <div class="description">
        <p>Set the gear ratio for this equation</p>

    </div>

        <div class="params">
            <h4>Parameters:</h4>

            <ul class="params-list">
                <li class="param">
                        <code class="param-name">ratio</code>
                        <span class="type">Number</span>


                    <div class="param-description">
                         
                    </div>

                </li>
            </ul>
        </div>



</div>
<div id="method_update" class="method item inherited">
    <h3 class="name"><code>update</code></h3>

        <span class="paren">()</span>








    <div class="meta">
                <p>Inherited from
                <a href="../classes/Equation.html#method_update">Equation</a>:
        <a href="../files/src_equations_Equation.js.html#l120"><code>src&#x2F;equations&#x2F;Equation.js:120</code></a>
        </p>



    </div>

    <div class="description">
        <p>Compute SPOOK parameters .a, .b and .epsilon according to the current parameters. See equations 9, 10 and 11 in the <a href="http://www8.cs.umu.se/kurser/5DV058/VT09/lectures/spooknotes.pdf">SPOOK notes</a>.</p>

    </div>




</div>
            </div>

            <div id="properties" class="api-class-tabpanel">
                <h2 class="off-left">Properties</h2>

                    <div id="property_bodyA" class="property item inherited">
                        <h3 class="name"><code>bodyA</code></h3>
                        <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
                    
                    
                    
                    
                    
                        <div class="meta">
                                    <p>Inherited from
                                    <a href="../classes/Equation.html#property_bodyA">Equation</a>:
                            <a href="../files/src_equations_Equation.js.html#l32"><code>src&#x2F;equations&#x2F;Equation.js:32</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>First body participating in the constraint</p>
                    
                        </div>
                    
                    
                    
                    </div>
                    <div id="property_bodyB" class="property item inherited">
                        <h3 class="name"><code>bodyB</code></h3>
                        <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
                    
                    
                    
                    
                    
                        <div class="meta">
                                    <p>Inherited from
                                    <a href="../classes/Equation.html#property_bodyB">Equation</a>:
                            <a href="../files/src_equations_Equation.js.html#l39"><code>src&#x2F;equations&#x2F;Equation.js:39</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>Second body participating in the constraint</p>
                    
                        </div>
                    
                    
                    
                    </div>
                    <div id="property_enabled" class="property item inherited">
                        <h3 class="name"><code>enabled</code></h3>
                        <span class="type">Boolean</span>
                    
                    
                    
                    
                    
                        <div class="meta">
                                    <p>Inherited from
                                    <a href="../classes/Equation.html#property_enabled">Equation</a>:
                            <a href="../files/src_equations_Equation.js.html#l96"><code>src&#x2F;equations&#x2F;Equation.js:96</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>Whether this equation is enabled or not. If true, it will be added to the solver.</p>
                    
                        </div>
                    
                    
                    
                    </div>
                    <div id="property_G" class="property item inherited">
                        <h3 class="name"><code>G</code></h3>
                        <span class="type">Array</span>
                    
                    
                    
                    
                    
                        <div class="meta">
                                    <p>Inherited from
                                    <a href="../classes/Equation.html#property_G">Equation</a>:
                            <a href="../files/src_equations_Equation.js.html#l60"><code>src&#x2F;equations&#x2F;Equation.js:60</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>The Jacobian entry of this equation. 6 numbers, 3 per body (x,y,angle).</p>
                    
                        </div>
                    
                    
                    
                    </div>
                    <div id="property_maxForce" class="property item inherited">
                        <h3 class="name"><code>maxForce</code></h3>
                        <span class="type">Number</span>
                    
                    
                    
                    
                    
                        <div class="meta">
                                    <p>Inherited from
                                    <a href="../classes/Equation.html#property_maxForce">Equation</a>:
                            <a href="../files/src_equations_Equation.js.html#l25"><code>src&#x2F;equations&#x2F;Equation.js:25</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>Max force to apply when solving.</p>
                    
                        </div>
                    
                    
                    
                    </div>
                    <div id="property_minForce" class="property item inherited">
                        <h3 class="name"><code>minForce</code></h3>
                        <span class="type">Number</span>
                    
                    
                    
                    
                    
                        <div class="meta">
                                    <p>Inherited from
                                    <a href="../classes/Equation.html#property_minForce">Equation</a>:
                            <a href="../files/src_equations_Equation.js.html#l18"><code>src&#x2F;equations&#x2F;Equation.js:18</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>Minimum force to apply when solving.</p>
                    
                        </div>
                    
                    
                    
                    </div>
                    <div id="property_multiplier" class="property item inherited">
                        <h3 class="name"><code>multiplier</code></h3>
                        <span class="type">Number</span>
                    
                    
                    
                    
                    
                        <div class="meta">
                                    <p>Inherited from
                                    <a href="../classes/Equation.html#property_multiplier">Equation</a>:
                            <a href="../files/src_equations_Equation.js.html#l83"><code>src&#x2F;equations&#x2F;Equation.js:83</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>The resulting constraint multiplier from the last solve. This is mostly equivalent to the force produced by the constraint.</p>
                    
                        </div>
                    
                    
                    
                    </div>
                    <div id="property_needsUpdate" class="property item inherited">
                        <h3 class="name"><code>needsUpdate</code></h3>
                        <span class="type">Boolean</span>
                    
                    
                    
                    
                    
                        <div class="meta">
                                    <p>Inherited from
                                    <a href="../classes/Equation.html#property_needsUpdate">Equation</a>:
                            <a href="../files/src_equations_Equation.js.html#l77"><code>src&#x2F;equations&#x2F;Equation.js:77</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>Indicates if stiffness or relaxation was changed.</p>
                    
                        </div>
                    
                    
                    
                    </div>
                    <div id="property_ratio" class="property item private">
                        <h3 class="name"><code>ratio</code></h3>
                        <span class="type">Number</span>
                    
                    
                            <span class="flag private">private</span>
                    
                    
                    
                        <div class="meta">
                                    <p>
                                    Defined in
                            <a href="../files/src_equations_AngleLockEquation.js.html#l23"><code>src&#x2F;equations&#x2F;AngleLockEquation.js:23</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>The gear ratio.</p>
                    
                        </div>
                    
                    
                    
                    </div>
                    <div id="property_relativeVelocity" class="property item inherited">
                        <h3 class="name"><code>relativeVelocity</code></h3>
                        <span class="type">Number</span>
                    
                    
                    
                    
                    
                        <div class="meta">
                                    <p>Inherited from
                                    <a href="../classes/Equation.html#property_relativeVelocity">Equation</a>:
                            <a href="../files/src_equations_Equation.js.html#l90"><code>src&#x2F;equations&#x2F;Equation.js:90</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>Relative velocity.</p>
                    
                        </div>
                    
                    
                    
                    </div>
                    <div id="property_relaxation" class="property item inherited">
                        <h3 class="name"><code>relaxation</code></h3>
                        <span class="type">Number</span>
                    
                    
                    
                    
                    
                        <div class="meta">
                                    <p>Inherited from
                                    <a href="../classes/Equation.html#property_relaxation">Equation</a>:
                            <a href="../files/src_equations_Equation.js.html#l53"><code>src&#x2F;equations&#x2F;Equation.js:53</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>The number of time steps needed to stabilize the constraint equation. Typically between 3 and 5 time steps.</p>
                    
                        </div>
                    
                    
                    
                    </div>
                    <div id="property_stiffness" class="property item inherited">
                        <h3 class="name"><code>stiffness</code></h3>
                        <span class="type">Number</span>
                    
                    
                    
                    
                    
                        <div class="meta">
                                    <p>Inherited from
                                    <a href="../classes/Equation.html#property_stiffness">Equation</a>:
                            <a href="../files/src_equations_Equation.js.html#l46"><code>src&#x2F;equations&#x2F;Equation.js:46</code></a>
                            </p>
                    
                    
                        </div>
                    
                        <div class="description">
                            <p>The stiffness of this equation. Typically chosen to a large number (~1e7), but can be chosen somewhat freely to get a stable simulation.</p>
                    
                        </div>
                    
                    
                    
                    </div>
            </div>


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